两足步行椅机器人的设计与研究

:1007-6735(2007)02-0109-04:2006-06-08:(60575049);(2003DF000017);(041107039):(1971-),,.1,2,1(1.,200030;2.,200030):,.,.:;;:TP242:ADesignandstudyofabipedwalkingchairrobotCAOXi1,ZHAOQun2fei2,MAPei2sun1(1.SchoolofMechanicalEngineering,ShanghaiJiaotongUniversity,Shanghai200030,China;2.SchoolofElectronic,InformationandElectricalEngineering,ShanghaiJiaotongUniversity,Shanghai200030,China)Abstract:Themechanicalandcontrolsystemdesignofanewbipedwalkingchairrobotisintroduced.Tomakesystemdesignmoreefficientandreliable,alotofcomputersimulationsarecarriedout.Keywords:walkingchairrobot;gait;bipedrobot,.[13],,,.2003,[4,5]...,.,.2004,[6].,,,,.:,,,;,,,;,,292J.UniversityofShanghaiforScienceandTechnologyVol.29No.22007,,(human2in2the2loopcontrol).,.,,.11.112.,().lm1.1Fig.1Bipedwalkingchairrobot2Fig.2ConfigurationoftheDOF1Tab.1Specificationofthebipedrobotl/mmm/kg30073006(lb)200300260202401251.2.,,,.t,3.,2.3Fig.3Jointsangleoftheleftlegwiththerobotworking0112007292Tab.2Jointspaceofthebipedrobot()-12515-4520-45450130-4520-20301.3,,,,45.4Fig.4Photoofthebipedsankle5Fig.5Orthogonalanklejointofthebipedrobot1.4.,;,,.,.,ADAMS,6.-,,7.6Fig.6Simulationscreenshotofwalkingandgoingupstair7-Fig.7LeftkneetorqueOangularvelocitywhenwalkingandgoingupstair,MinimotorMaxonSanyo,MaxonRE.,Maxon,,,.,RE30;RE40.,1112,:100N(),0.2Nm,5001.2001,,.3.3Tab.3MotortorqueandgearratioP/W601160150148015014801501480150148015014801.5.,..,.,,,[7]..2PC,BaldorNextMovePCI2.,NextMovePCI212,NextMovePCI2.Maxon.,RE30MR,L,DC5V5%,1000,200kHz;RE40HEDL55,DC5V5%,1000,100kHz.DB810.73.4mm71.6mm26.0mm,1880VDC,020A(10A),200.3,.,,.,,,.:[1]HIRAIK,HIROSEM,HAIKAWAY,etal.Thede2velopmentofhondahumanoidrobot[C]Proceedingsof1998IEEEInternationalConferenceonRobotics&Au2tomation.Leuven:IEEEComputerSociety,1998,1321-1326.[2]COLLINSS,RUINAA,TEDRAKER,etal.EfficientbipedalrobotsbasedonpassiveOdynamicwalkers[J].Sci2ence,2005,307:1082-1085.[3]HUANGQ,KAJITAS,KANEKOK,etal.Planningwalkingpatternsforabipedrobot[J].IEEETransactionsonRoboticsandAutomation,2001,17(3):280-289.[4]SUGAHARAY,HOSOBATAT,MIKURIYAY,etal.RealizationofdynamichumanOcarryingwalkingbyabipedLocomotor[C]ProcoftheIEEEICRA2004.NewOrlean:IEEEPress,2004,3055-3060.[5]SUGAHARAY,ENDOT,LIMH,etal.DesignofabatteryOpoweredmultiOpurposebipedallocomotorwithparallelmechanism[C]Procofthe2002IEEE/RSJIn2ternationalConferenceonIntelligentRobotsandSystems.Lausanne:IEEEPress,2002,2658-2663.[6]TOYOTA.RobotReview[EB/OL].2004O12[2006O06O08].[7],,,.[P].:CN200410067322.4,2004.211200729